{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,9]],"date-time":"2025-02-09T05:06:33Z","timestamp":1739077593035,"version":"3.37.0"},"reference-count":28,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":4877,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1995,11]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>An implementation of a real-time scheme suitable for coordinated-motion control of a class of teleoperated industrial machines with redundancy is presented. An efficient gradient projection technique is adopted for the numerical solution. The scheme utilizes the redundancy to avoid the joint limits by minimizing a hyperbolic function of the joint distances from the mid-range. This new performance criterion is shown to be advantageous over similar criteria; both the joint-limit avoidance capability and the resulting joint velocity profiles can be adjusted by the appropriate choice of parameters introduced in the criterion. Previous criteria are shown to be special cases of the new criterion. Furthermore, the scheme includes a novel algorithm which incorporates the bounded joint velocities. The joint motions are determined considering both the required task in terms of the desired end-effector speed and the dynamic considerations, such as hydraulic circuit interdependency and power limitations.<\/jats:p><jats:p>The feasibility and effectiveness of the implementation of the scheme is first tested through simulations of a Kaiser Spyder-like excavator machine on a PC-486 micro-computer. The robustness and real-time response of the scheme are then validated on a real-time excavator-based graphics simulator interfaced to a human operator through a joystick.<\/jats:p>","DOI":"10.1017\/s0263574700018713","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:12:28Z","timestamp":1236690748000},"page":"623-633","source":"Crossref","is-referenced-by-count":7,"title":["Coordinated-motion control of heavy-duty industrial machines with redundancy"],"prefix":"10.1017","volume":"13","author":[{"given":"N.","family":"Singh","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"H.","family":"Zghal","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"N.","family":"Sepehri","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S.","family":"Balakrishnan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"P. D.","family":"Lawrence","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700018713_ref028","unstructured":"28. Sepehri N. , Frenette R. and Lawrence P.D. , \u201cProportional Hydraulic Control\u201d US Patent No. 5,167,121 (allowed Dec. 1, 1992, Date U.S. filed Jun. 25, 1991, Application No. 720378)."},{"key":"S0263574700018713_ref025","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620040103"},{"key":"S0263574700018713_ref023","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"key":"S0263574700018713_ref017","unstructured":"17. Dubey R.V. , Euler J.A. and Babcock S.M. , \u201cAn Efficient Gradient Projection Optimization for the Seven-Degree-of-Freedom Redundant Robot with Spherical Wrist\u201d Proc. IEEE Int. Conf. on Robotics and Automation, Philadelphia, PA (1988) pp. 28\u201336."},{"key":"S0263574700018713_ref014","first-page":"868","article-title":"Automatic Supervisory Control of the Configuration and Behavior of Multi-body Mechanics","volume":"SMC-7","author":"Liegeois","year":"1977","journal-title":"IEEE Trans, on Systems, Man, and Cybern"},{"key":"S0263574700018713_ref012","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600201"},{"key":"S0263574700018713_ref009","doi-asserted-by":"crossref","unstructured":"9. Lawrence P.D. , Sassani F. , Sauder B.J. , Sepehri N. , Wallersteiner U. and Wilson J. , \u201cComputer-Assisted Control of Excavator-Based Machines\u201d, SAE Technical Paper Series; International Off-Highway & Powerplant Congress & Exposition, Milwaukee, Wisconsin, Paper No. 932486 (1993).","DOI":"10.4271\/932486"},{"key":"S0263574700018713_ref008","unstructured":"8. Lawrence P.D. , Sepehri N. , Sassani F. and Chan D. , \u201cCoordinated Hydraulic Control of Excavator-Based Machines\u201d 2nd Tampere International Conference on Machine Automation, Tampere, Finland (1994) pp. 355\u2013367."},{"key":"S0263574700018713_ref006","first-page":"593","volume-title":"Robotics: The part is Prologue, Robotics, Research and Business Opportunities","author":"Sheridan","year":"1986"},{"key":"S0263574700018713_ref004","unstructured":"4. Hogge S.M. , \u201cNaval Robotics and Artificial Intelligence Systems Applications for the Future\u201d Robots 9 Conference Detroit, Michigan (1985) 2, pp. 22\u20137\u201322\u20139."},{"key":"S0263574700018713_ref002","first-page":"227","volume-title":"Robotics 1983","author":"Karkkainen","year":"1983"},{"key":"S0263574700018713_ref016","unstructured":"16. Konstantinov M.S. , Markov M.D. and Nenchev D.N. , \u201cKinematics Control of Redundant Manipulators\u201d Proc. 11th Int. Symposium on Industrial Robots, Tokyo, Japan (1981) pp. 561\u2013568."},{"key":"S0263574700018713_ref001","unstructured":"1. Chavez R.J. and Amazeen C.A. , \u201cRobotics Applied to Rapid Excavation\u201d Proc. 13th Int. Symposium on Industrial Robots and Robots 7, Chicago, III. pp. 94\u2013108."},{"key":"S0263574700018713_ref022","unstructured":"22. Sepehri N. , Dynamic Simulation and Control of Teleoperated Heavy-Duty Hydraulic Manipulators Ph.D. Thesis (Department of Mechanical Engineering, University of British Colombia, 1990)."},{"key":"S0263574700018713_ref026","unstructured":"26. Singh N. , \u201cReal-Time Control of a Class of Kinematically Redundant Industrial Machines\u201d M.Sc. Thesis (Department of Mechanical and Industrial Engineering, University of Manitoba, Winnipeg, Canada 1994)."},{"key":"S0263574700018713_ref020","volume-title":"Technical Report Meddelande","volume":"18","author":"Lofgren","year":"1989"},{"key":"S0263574700018713_ref011","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700501"},{"key":"S0263574700018713_ref003","first-page":"55","volume-title":"Advanced Software in Robotics","author":"Vaha","year":"1984"},{"key":"S0263574700018713_ref007","unstructured":"7. Roper C. , Lawrence P.D. and Wallersteiner U. , \u201cResolved Control of Teleoperated Systems\u201d Proc. Oceans '89, Part 3: Navigation, Remote Sensing, Underwater Vehicles\/Exploration, Seattle, WA (1989) pp. 782\u2013784."},{"key":"S0263574700018713_ref021","doi-asserted-by":"publisher","DOI":"10.1115\/1.2899215"},{"key":"S0263574700018713_ref019","unstructured":"19. Euler J.A. , Dubey R.V. and Babcock S.M. , \u201cSelf Motion Determination Based on Joint Velocity Bounds for Redundant Robots\u201d Proc. 2nd Int. Symposium of Robotics and Manufacturing Research, Education, and Application, Albuquerque, NM (1988) pp. 291\u2013298."},{"key":"S0263574700018713_ref013","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426611"},{"key":"S0263574700018713_ref010","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000407"},{"key":"S0263574700018713_ref018","unstructured":"18. H H. , Dubey R.V. and Euler J.A. , \u201cAn Efficient Gradient Projection Optimization for Manipulators with Multiple Degrees of Redundancy\u201d Proc. IEEE Int. Conf on Robotics and Automation, Cincinnati, Ohio (1990) pp. 1006\u20131011."},{"key":"S0263574700018713_ref024","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"},{"key":"S0263574700018713_ref015","unstructured":"15. Baillieul J. , \u201cKinematic Programming Alternatives for Redundant Manipulators\u201d Proc. IEEE Int. Conf. on Robotics and Automation, St. Louis, MO (1985) pp. 722\u2013728."},{"key":"S0263574700018713_ref027","unstructured":"27. Euler J.A. , Dubey R.V. , Babcock S.M. and Hamel W.R. , \u201cA Comparison of Two Real-Time Control Scheme for Redundant Manipulators with Bounded Joint Velocities\u201d Proc. IEEE Int. Conf. on Robotics and Automation (1989) pp. 106\u2013112."},{"key":"S0263574700018713_ref005","doi-asserted-by":"crossref","unstructured":"5. Sheridan T.B. , \u201cHuman Supervisory Control of Robot Systems\u201d Proc. IEEE International Conference on Robotics and Automation, San Francisco, California pp. 808\u2013812.","DOI":"10.1109\/ROBOT.1986.1087506"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700018713","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:54:24Z","timestamp":1738990464000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700018713\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1995,11]]},"references-count":28,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1995,11]]}},"alternative-id":["S0263574700018713"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700018713","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1995,11]]}}}